EP3874159B1 - Verfahren und steuergerät zur vollen leistungsregelung einer windturbine - Google Patents

Verfahren und steuergerät zur vollen leistungsregelung einer windturbine Download PDF

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Publication number
EP3874159B1
EP3874159B1 EP19801750.1A EP19801750A EP3874159B1 EP 3874159 B1 EP3874159 B1 EP 3874159B1 EP 19801750 A EP19801750 A EP 19801750A EP 3874159 B1 EP3874159 B1 EP 3874159B1
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EP
European Patent Office
Prior art keywords
condition
fulfilled
flow regulating
value
adaptive flow
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EP19801750.1A
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English (en)
French (fr)
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EP3874159A1 (de
Inventor
Thomas Esbensen
Gustav Hoegh
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Siemens Gamesa Renewable Energy AS
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Siemens Gamesa Renewable Energy AS
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/022—Adjusting aerodynamic properties of the blades
    • F03D7/0224—Adjusting blade pitch
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/022—Adjusting aerodynamic properties of the blades
    • F03D7/0232—Adjusting aerodynamic properties of the blades with flaps or slats
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/022—Adjusting aerodynamic properties of the blades
    • F03D7/0236—Adjusting aerodynamic properties of the blades by changing the active surface of the wind engaging parts, e.g. reefing or furling
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/0276—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor controlling rotor speed, e.g. variable speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/10—Purpose of the control system
    • F05B2270/103—Purpose of the control system to affect the output of the engine
    • F05B2270/1033—Power (if explicitly mentioned)
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Definitions

  • the present invention relates to the field of wind turbines, in particular to a method and controller for full-power control of a wind turbine.
  • Wind turbines may have a lower power production than expected in the full-load region, especially in high turbulence, if special care is not taken in designing the wind turbine speed controllers.
  • One approach is to use a state machine to determine whether the turbine is operating above or below the rated wind speed.
  • the output of the Speed-Power controller is forced to the maximum power (or maximum torque, dependent on the power capabilities). This ensures that power production is kept high at high wind speed even during periods with high turbulence, where the rotor speed may vary significantly around the speed reference.
  • the function will furthermore ensure that the maximum power is not maintained for too long when the wind speed is decreasing, as this will eventually cause significant speed and power drops which are more difficult to recover from and will cause a significant load cycle.
  • EP 3 290 688 A1 describes a method of controlling a rotational speed of a rotor of a wind turbine having a rotor with blades connected thereon, at least one blade including a blade profile changing equipment, the method comprising: changing the blade profile dependent on a rotational speed deviation of an actual rotational speed of the rotor or the generator rotor from a reference rotational speed.
  • a method of setting and clearing a full-power flag in a control process running on a wind turbine controller comprises (a) acquiring a set of measured values and/or reference values for the following parameters: rotor speed, output power, blade pitch angle, and activation level of an adaptive flow regulating system, (b) determining that a first condition is fulfilled when the measured value of the rotor speed equals a speed limit value and the output power reference value equals a power limit value, (c) determining that a second condition is fulfilled when the blade pitch angle reference value fulfills a pitch condition and the activation level of the adaptive flow regulating system fulfills an adaptive flow regulating condition, (d) setting the full-power flag if the first condition is fulfilled and the second condition has not been fulfilled for a first predetermined period of time, and (e) clearing the full-power flag if the second condition is fulfilled.
  • This aspect of the invention is based on the idea that the full-power flag is set when a first condition is fulfilled, i.e. when both rotor speed and output power equal respective limit (i.e. maximum) values, while the full-power flag is cleared when a second condition is fulfilled, i.e. when both a pitch condition and an adaptive flow regulating condition are fulfilled. Furthermore, in order to increase stability, the full-power flag is only set when the second condition (i.e. the condition for clearing the full-power flag) has not been fulfilled for a first predetermined period of time. In other words, the full-power flag cannot be set until the first period of time has elapsed since the full-power flag was cleared.
  • measured values may in particular denote actual or current values
  • reference values in particular may denote control values or set point values
  • the term "adaptive flow regulating system” may in particular denote a system comprising a plurality of devices arranged on the rotor blades of the wind turbine, each device being capable of influencing the flow characteristics at a given section of the rotor blade surface.
  • the adaptive flow regulating devices may be implemented as adjustable spoilers or flaps, which may e.g. be selectively and adjustably raised (e.g. by pneumatic actuation) above the surface of the rotor blade.
  • generator speed may be used instead of the rotor speed.
  • the pitch condition is fulfilled when a difference between the reference value for the blade pitch angle and a predetermined minimum pitch angle value is below a first pitch threshold value.
  • the pitch condition is fulfilled when the pitch reference value is close to the predetermined minimum pitch angle.
  • a relatively small amount of pitching is applied, indicating that wind speed is not particularly high.
  • the pitch condition is fulfilled when an estimate for the time it will take before the reference value for the blade pitch angle reaches the predetermined minimum pitch angle is below a second pitch threshold value.
  • the estimate may be obtained based on a gradient, calculated e.g. from a series of blade pitch reference values.
  • a gradient calculated e.g. from a series of blade pitch reference values.
  • the adaptive flow regulating condition is fulfilled when the reference value for the activation level of the adaptive flow regulating system is below a first flow regulating threshold value.
  • the adaptive flow regulating condition is fulfilled when an estimate for the time it will take before the reference value for the activation level of the adaptive flow regulating system reaches a value corresponding to an inactive adaptive flow regulating system is below a second flow regulating threshold value.
  • the estimate may be obtained based on a gradient, calculated e.g. from a series of reference values for the activation level of the adaptive flow regulating system.
  • a gradient calculated e.g. from a series of reference values for the activation level of the adaptive flow regulating system.
  • the first condition is fulfilled when the measured value of the rotor speed has reached the speed limit value within a second predetermined period of time and the output power reference value has reached the power limit value within a third predetermined period of time.
  • a wind turbine controller comprising a processing unit adapted to perform the method according to the first aspect or any of the embodiments discussed above.
  • This aspect is based on essentially the same idea as the first aspect described above.
  • a wind turbine comprising a wind turbine controller according to the second aspect.
  • the wind turbine according to this aspect will be capable of achieving an excellent overall power capture at high wind speeds and/or high turbulence levels.
  • Figure 1 shows a flow chart of a method according to an embodiment of the present invention.
  • the controller may advantageously take the activation level of the adaptive flow regulating system into consideration for correctly judging if the power can be kept high. This is e.g. possible if blade pitch angle is close to optimal and the adaptive flow regulating system is fully activated, but not if the adaptive flow regulating system is only slightly activated.
  • Figure 1 shows a flow chart of a method 100 according to an embodiment of the present invention. More specifically, at 110 a set of measured values and/or reference values for the parameters rotor speed, output power, blade pitch angle, and activation level of the adaptive flow regulating system is acquired.
  • a first condition is fulfilled. This is the case when the measured value of the rotor speed equals a speed limit value and the output power reference value equals a power limit value.
  • the first condition is fulfilled when the measured value of the rotor speed and the output power reference value have respectively reached the speed limit value and power limit value within certain predetermined periods of time, i.e. recently.
  • At 130 it is determined whether a second condition is fulfilled. This is the case when the blade pitch angle reference value fulfills a pitch condition and the activation level of the adaptive flow regulating system fulfills an adaptive flow regulating condition.
  • the pitch condition may be fulfilled when
  • the adaptive flow regulating condition may be fulfilled when
  • the full-power flag is set if the first condition is fulfilled and the second condition has not been fulfilled for a certain (first) period of time.
  • the full power flag is cleared if the second condition is fulfilled.
  • the method 100 returns to 110 and repeats the steps and actions described above.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Wind Motors (AREA)
  • Control Of Eletrric Generators (AREA)

Claims (8)

  1. Verfahren (100) zum Setzen und Löschen eines Full-Power-Flags in einem Steuerungsprozess, der auf einer Windkraftanlagensteuerung läuft, wobei das Verfahren Folgendes umfasst:
    Erfassen (110) eines Satzes Messwerte und/oder Bezugswerte für die folgenden Parameter: Rotordrehzahl, Ausgangsleistung, Blattneigungswinkel und Aktivierungslevel eines adaptiven Strömungsregulierungssystems,
    Bestimmen (120), dass eine erste Bedingung erfüllt ist, wenn der Messwert der Rotordrehzahl einem Drehzahlgrenzwert entspricht und der Ausgangsleistungsbezugswert einem Leistungsgrenzwert entspricht,
    Bestimmen (130), dass eine zweite Bedingung erfüllt ist, wenn der Blattneigungswinkelbezugswert eine Neigungsbedingung erfüllt und das Aktivierungslevel des adaptiven Strömungsregulierungssystems eine adaptive Strömungsregulierungsbedingung erfüllt,
    Setzen (140) des Full-Power-Flags, wenn für einen ersten festgelegten Zeitraum die erste Bedingung erfüllt ist und die zweite Bedingung nicht erfüllt ist, und
    Löschen (150) des Full-Power-Flags, wenn die zweite Bedingung erfüllt ist.
  2. Verfahren nach dem vorstehenden Anspruch, wobei die Neigungsbedingung erfüllt ist, wenn eine Differenz zwischen dem Bezugswert für den Blattneigungswinkel und einem festgelegten Mindestneigungswinkelwert unter einem ersten Neigungsschwellenwert liegt.
  3. Verfahren nach einem der vorstehenden Ansprüche, wobei die Neigungsbedingung erfüllt ist, wenn eine Schätzung für die benötigte Zeit, bevor der Bezugswert für den Blattneigungswinkel den bevorzugten Mindestneigungswinkel erreicht, unter einem zweiten Neigungsschwellenwert liegt.
  4. Verfahren nach einem der vorstehenden Ansprüche, wobei die adaptive Strömungsregulierungsbedingung erfüllt ist, wenn der Bezugswert für das Aktivierungslevel des adaptiven Strömungsregulierungssystems unter einem ersten Strömungsregulierungsschwellenwert liegt.
  5. Verfahren nach einem der vorstehenden Ansprüche, wobei die adaptive Strömungsregulierungsbedingung erfüllt ist, wenn eine Schätzung für die benötigte Zeit, bevor der Bezugswert für das Aktivierungslevel des adaptiven Strömungsregulierungssystems einen Wert erreicht, der einem inaktiven adaptiven Strömungsregulierungssystem entspricht, unter einem zweiten Strömungsregulierungsschwellenwert liegt.
  6. Verfahren nach einem der vorstehenden Ansprüche, wobei die erste Bedingung erfüllt ist, wenn der Messwert der Rotordrehzahl den Drehzahlgrenzwert innerhalb eines zweiten festgelegten Zeitraums erreicht hat und der Ausgangsleistungsbezugswert den Leistungsgrenzwert innerhalb eines dritten festgelegten Zeitraums erreicht hat.
  7. Windkraftanlagensteuerung, umfassend eine Verarbeitungseinheit, die dazu eingerichtet ist, das Verfahren nach einem der vorstehenden Ansprüche durchzuführen.
  8. Windkraftanlage, umfassend eine Windkraftanlagensteuerung nach dem vorstehenden Anspruch.
EP19801750.1A 2018-12-13 2019-10-31 Verfahren und steuergerät zur vollen leistungsregelung einer windturbine Active EP3874159B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP18212376.0A EP3667069A1 (de) 2018-12-13 2018-12-13 Verfahren und steuergerät zur vollen leistungsregelung einer windturbine
PCT/EP2019/079800 WO2020120008A1 (en) 2018-12-13 2019-10-31 Method and controller for full-power control of a wind turbine

Publications (2)

Publication Number Publication Date
EP3874159A1 EP3874159A1 (de) 2021-09-08
EP3874159B1 true EP3874159B1 (de) 2023-06-07

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EP18212376.0A Withdrawn EP3667069A1 (de) 2018-12-13 2018-12-13 Verfahren und steuergerät zur vollen leistungsregelung einer windturbine
EP19801750.1A Active EP3874159B1 (de) 2018-12-13 2019-10-31 Verfahren und steuergerät zur vollen leistungsregelung einer windturbine

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US (1) US20220082082A1 (de)
EP (2) EP3667069A1 (de)
CN (1) CN113167226A (de)
DK (1) DK3874159T3 (de)
ES (1) ES2953549T3 (de)
WO (1) WO2020120008A1 (de)

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Publication number Priority date Publication date Assignee Title
EP3667076A1 (de) * 2018-12-13 2020-06-17 Siemens Gamesa Renewable Energy A/S Schätzung der windgeschwindigkeit

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Publication number Publication date
ES2953549T3 (es) 2023-11-14
WO2020120008A1 (en) 2020-06-18
EP3874159A1 (de) 2021-09-08
DK3874159T3 (da) 2023-08-07
EP3667069A1 (de) 2020-06-17
CN113167226A (zh) 2021-07-23
US20220082082A1 (en) 2022-03-17

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